Can they do anything? (Question about buying a car)

My husband and I recently got a new car. I don’t drive so I just them my ID, which they took. We signed all the papers, put the money down and drove it off the lot. Now they are calling saying they HAVE to have a drivers license from me since I’m on the loan. They said they can’t take me off the loan because that will affect the loan amount and will raise the payments which we absolutely cannot afford, but they are also saying they can’t take the vehicle back as it’s too late and we already traded in our old vehicle that the have gotten rid of, so if they took it back, we’d no longer have a car (but they won’t)

We bought it in another state, we live in Ohio but bought the car in Virginia. (Because my husband works here so we stay here)

Anyways, I have never had my drivers license and I was on the loan for our last vehicle and again, didn’t have one. He’s saying that I absolutely have to go get one, even if I get one in Virginia since we cannot go back to Ohio at the moment.

For one, we don’t live here. Have no residency here so I couldn’t get a drivers license here even if I wanted.

Two, there’s a reason I don’t have a license. I can’t get one. I have severe anxiety and PTSD so bad that I have a service dog for it. so I absolutely cannot take the test. (I’m in treatment)

I don’t know what to do because he just keeps saying I have to have it. But they let us leave the lot so what can they do? Can they take the vehicle back and still make us pay for it? Can they take it back since they got rid of our old vehicle? Or.. idk. Anyone know anything?